Use VQF for GS attitude and improve sensor/demo screens

README.md

@@ -19,14 +19,14 @@ This repository contains the embedded software for the CATS Vega flight computer
 * Accelerometric liftoff detection
 * Fully open source
 * Configuration is done over our application, no need to work with a CLI
-* Explore rocket flights recorded with CATS flight computers at [CATS Flights](https://flights.catsystems.io/).
+* Explore rocket flights recorded with CATS flight computers at [CATS Flights](https://catsystems.io/flights).
 
 ## Quick Links
 - [CATS User Manual](./Cats%20User%20Manual.pdf)
 - [CATS Configurator downloads](https://github.com/catsystems/cats-configurator/releases)
 - [Firmware releases](https://github.com/catsystems/cats-embedded/releases)
 - [CATS website](https://www.catsystems.io/)
-- [CATS Flights](https://flights.catsystems.io/)
+- [CATS Flights](https://catsystems.io/flights)
 - [Discord community](https://discord.gg/r7ErmSNvsy)
 
 

ground_station/RADIO-UPDATE.md

@@ -35,9 +35,14 @@ new ROM session, but an interruption during final vector activation can require
 programming result is ambiguous is quarantined until Ground Station restart or repair. This is the unavoidable safety
 limitation of using the factory ROM instead of a resident custom bootloader.
 
-The bootloader-entry request is `CMD_BOOTLOADER`, a zero payload length, and the usual frame CRC8. The receiver rejects
-requests with a nonzero payload length and acknowledges entry before jumping to the ROM bootloader.
-
-Receiver applications predating the `CMD_BOOTLOADER` implementation need a one-time ST-Link installation of a
-ROM-capable production telemetry build. Units provisioned with the earlier protected custom-loader proof of concept need
-a separate provisioning procedure. Older Vega firmware remains compatible with the ROM-capable telemetry application.
+The bootloader-entry request is `CMD_BOOTLOADER`, a zero payload length, and the usual frame CRC8. Production telemetry
+1.2.0 is the first version that supports this update entry protocol. The receiver rejects requests with a nonzero payload
+length and acknowledges entry before jumping to the ROM bootloader.
+
+Telemetry 1.1.3 and earlier cannot enter the updater. An attempted update receives no entry acknowledgement and stops
+before ROM synchronization, erase, or write, so the installed application is not modified. Because a missing
+acknowledgement is indistinguishable from an acknowledgement lost after entering ROM, the Ground Station quarantines the
+attempted link until restart. These receivers need a one-time ST-Link installation of a ROM-capable production telemetry
+build before Ground Station updates can be used. Units provisioned with the earlier protected custom-loader proof of
+concept need a separate provisioning procedure. Older Vega firmware remains compatible with the ROM-capable telemetry
+application.

ground_station/gs-wsl-check.sh

@@ -233,9 +233,19 @@ test_self_test() {
     "$project_root/tests/self_test.cpp" "$project_root/src/self_test.cpp" -o "$test_binary"
   "$test_binary"
 }
+test_attitude() {
+  local test_binary="$build_dir/attitude-test"
+  g++ -std=c++20 -Wall -Wextra -Werror \
+    -I"$project_root/src" -I"$project_root/lib/VQF/src" \
+    "$project_root/tests/attitude_test.cpp" "$project_root/src/attitude.cpp" \
+    "$project_root/lib/VQF/src/vqf.cpp" -o "$test_binary"
+  "$test_binary"
+}
+
 timed dependencies prepare_dependencies
 timed rom-bootloader-test test_rom_bootloader
 timed self-test test_self_test
+timed attitude-test test_attitude
 timed build build_project
 timed lint lint_project